#include <mavlink_comm.h>

Inheritance diagram for mavrosflight::MavlinkComm:

Classes
struct	WriteBuffer
	Struct for buffering the contents of a mavlink message. More...

Public Member Functions
void	close ()
	Stops communication and closes the port. More...

	MavlinkComm ()
	Instantiates the class and begins communication on the specified serial port. More...

void	open ()
	Opens the port and begins communication. More...

void	register_mavlink_listener (MavlinkListenerInterface *const listener)
	Register a listener for mavlink messages. More...

void	send_message (const mavlink_message_t &msg)
	Send a mavlink message. More...

void	unregister_mavlink_listener (MavlinkListenerInterface *const listener)
	Unregister a listener for mavlink messages. More...

	~MavlinkComm ()
	Stops communication and closes the serial port before the object is destroyed. More...

Protected Member Functions
virtual void	do_async_read (const boost::asio::mutable_buffers_1 &buffer, boost::function< void(const boost::system::error_code &, size_t)> handler)=0

virtual void	do_async_write (const boost::asio::const_buffers_1 &buffer, boost::function< void(const boost::system::error_code &, size_t)> handler)=0

virtual void	do_close ()=0

virtual void	do_open ()=0

virtual bool	is_open ()=0

Protected Attributes
boost::asio::io_service	io_service_
	boost io service provider More...

Private Types
typedef boost::lock_guard< boost::recursive_mutex >	mutex_lock
	Convenience typedef for mutex lock. More...

Private Member Functions
void	async_read ()
	Initiate an asynchronous read operation. More...

void	async_read_end (const boost::system::error_code &error, size_t bytes_transferred)
	Handler for end of asynchronous read operation. More...

void	async_write (bool check_write_state)
	Initialize an asynchronous write operation. More...

void	async_write_end (const boost::system::error_code &error, size_t bytes_transferred)
	Handler for end of asynchronous write operation. More...

Private Attributes
uint8_t	compid_

boost::thread	io_thread_
	thread on which the io service runs More...

std::vector< MavlinkListenerInterface * >	listeners_
	listeners for mavlink messages More...

mavlink_message_t	msg_in_

boost::recursive_mutex	mutex_
	mutex for threadsafe operation More...

uint8_t	read_buf_raw_ [MAVLINK_SERIAL_READ_BUF_SIZE]

mavlink_status_t	status_in_

uint8_t	sysid_

bool	write_in_progress_
	flag for whether async_write is already running More...

std::list< WriteBuffer * >	write_queue_
	queue of buffers to be written to the serial port More...

Detailed Description

Definition at line 59 of file mavlink_comm.h.

Member Typedef Documentation

typedef boost::lock_guard<boost::recursive_mutex> mavrosflight::MavlinkComm::mutex_lock

private

Convenience typedef for mutex lock.

Definition at line 143 of file mavlink_comm.h.

Constructor & Destructor Documentation

mavrosflight::MavlinkComm::MavlinkComm ( )

Instantiates the class and begins communication on the specified serial port.

Parameters

port	Name of the serial port (e.g. "/dev/ttyUSB0")
baud_rate	Serial communication baud rate

Definition at line 44 of file mavlink_comm.cpp.

mavrosflight::MavlinkComm::~MavlinkComm ( )

Stops communication and closes the serial port before the object is destroyed.

Definition at line 50 of file mavlink_comm.cpp.

Member Function Documentation

void mavrosflight::MavlinkComm::async_read ( )

private

Initiate an asynchronous read operation.

Definition at line 111 of file mavlink_comm.cpp.

void mavrosflight::MavlinkComm::async_read_end	(	const boost::system::error_code &	error,
		size_t	bytes_transferred
	)

private

Handler for end of asynchronous read operation.

Parameters

error	Error code
bytes_transferred	Number of bytes received

Definition at line 124 of file mavlink_comm.cpp.

void mavrosflight::MavlinkComm::async_write ( bool check_write_state )

private

Initialize an asynchronous write operation.

Parameters

check_write_state If true, only start another write operation if a write sequence is not already running

Definition at line 162 of file mavlink_comm.cpp.

void mavrosflight::MavlinkComm::async_write_end	(	const boost::system::error_code &	error,
		size_t	bytes_transferred
	)

private

Handler for end of asynchronous write operation.

Parameters

error	Error code
bytes_transferred	Number of bytes sent

Definition at line 183 of file mavlink_comm.cpp.

void mavrosflight::MavlinkComm::close ( )

Stops communication and closes the port.

Definition at line 64 of file mavlink_comm.cpp.

virtual void mavrosflight::MavlinkComm::do_async_read	(	const boost::asio::mutable_buffers_1 &	buffer,
		boost::function< void(const boost::system::error_code &, size_t)>	handler
	)

protectedpure virtual

Implemented in mavrosflight::MavlinkSerial, and mavrosflight::MavlinkUDP.

virtual void mavrosflight::MavlinkComm::do_async_write	(	const boost::asio::const_buffers_1 &	buffer,
		boost::function< void(const boost::system::error_code &, size_t)>	handler
	)

protectedpure virtual

Implemented in mavrosflight::MavlinkSerial, and mavrosflight::MavlinkUDP.

virtual void mavrosflight::MavlinkComm::do_close ( )

protectedpure virtual

Implemented in mavrosflight::MavlinkUDP, and mavrosflight::MavlinkSerial.

virtual void mavrosflight::MavlinkComm::do_open ( )

protectedpure virtual

Implemented in mavrosflight::MavlinkUDP, and mavrosflight::MavlinkSerial.

virtual bool mavrosflight::MavlinkComm::is_open ( )

protectedpure virtual

Implemented in mavrosflight::MavlinkUDP, and mavrosflight::MavlinkSerial.

void mavrosflight::MavlinkComm::open ( )

Opens the port and begins communication.

Definition at line 54 of file mavlink_comm.cpp.

void mavrosflight::MavlinkComm::register_mavlink_listener ( MavlinkListenerInterface *const listener )

Register a listener for mavlink messages.

Parameters

listener Pointer to an object that implements the MavlinkListenerInterface interface

Definition at line 77 of file mavlink_comm.cpp.

void mavrosflight::MavlinkComm::send_message ( const mavlink_message_t & msg )

Send a mavlink message.

Parameters

msg	The message to send

Todo:: Do something less catastrophic here

Definition at line 148 of file mavlink_comm.cpp.

void mavrosflight::MavlinkComm::unregister_mavlink_listener ( MavlinkListenerInterface *const listener )

Unregister a listener for mavlink messages.

Parameters

listener Pointer to an object that implements the MavlinkListenerInterface interface

Definition at line 96 of file mavlink_comm.cpp.

Member Data Documentation

uint8_t mavrosflight::MavlinkComm::compid_

private

Definition at line 184 of file mavlink_comm.h.

boost::asio::io_service mavrosflight::MavlinkComm::io_service_

protected

boost io service provider

Definition at line 110 of file mavlink_comm.h.

boost::thread mavrosflight::MavlinkComm::io_thread_

private

thread on which the io service runs

Definition at line 180 of file mavlink_comm.h.

std::vector<MavlinkListenerInterface*> mavrosflight::MavlinkComm::listeners_

private

listeners for mavlink messages

Definition at line 178 of file mavlink_comm.h.

mavlink_message_t mavrosflight::MavlinkComm::msg_in_

private

Definition at line 188 of file mavlink_comm.h.

boost::recursive_mutex mavrosflight::MavlinkComm::mutex_

private

mutex for threadsafe operation

Definition at line 181 of file mavlink_comm.h.

uint8_t mavrosflight::MavlinkComm::read_buf_raw_[MAVLINK_SERIAL_READ_BUF_SIZE]

private

Definition at line 186 of file mavlink_comm.h.

mavlink_status_t mavrosflight::MavlinkComm::status_in_

private

Definition at line 189 of file mavlink_comm.h.

uint8_t mavrosflight::MavlinkComm::sysid_

private

Definition at line 183 of file mavlink_comm.h.

bool mavrosflight::MavlinkComm::write_in_progress_

private

flag for whether async_write is already running

Definition at line 192 of file mavlink_comm.h.

std::list<WriteBuffer*> mavrosflight::MavlinkComm::write_queue_

private

queue of buffers to be written to the serial port

Definition at line 191 of file mavlink_comm.h.

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation